CN1787939A - Driving dynamics control system for vehicles - Google Patents
Driving dynamics control system for vehicles Download PDFInfo
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- CN1787939A CN1787939A CNA2004800129036A CN200480012903A CN1787939A CN 1787939 A CN1787939 A CN 1787939A CN A2004800129036 A CNA2004800129036 A CN A2004800129036A CN 200480012903 A CN200480012903 A CN 200480012903A CN 1787939 A CN1787939 A CN 1787939A
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000003213 activating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000003381 stabilizer Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0044—In digital systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0297—Control Giving priority to different actuators or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention relates to a driving dynamics control system for vehicles, involving at least one signal distribution, to which vehicle data, environmental data and data regarding the driver's intention are fed in the form of input data, and a number of controllable or regulatable subsystems, which modify the dynamics of the vehicle such as a driver-independent adjustable steering system, a driver-independent adjustable chassis, a driver-independent adjustable brake, and a driver-independent adjustable drive train. The invention is characterized in that: the data of the signal distribution are fed to a central determining unit (driving condition recognition, driver's intention recognition); the central determining unit determines a central control target from the data of the signal distribution, and these items of data regarding the central control target are fed to a central regulating variable distribution or to a central driving condition controller that, while interactively communicating with the subsystems, controls these subsystems in such a manner that the control target is converted by the subsystems on the vehicle.
Description
Technical field
The present invention relates to a kind of vehicle dynamics characteristic/dynamic (Fahrdynamik) control system that is used for vehicle, this system comprises at least one signal distributor, and the data of vehicle data, environmental data and relevant chaufeur request are sent in described at least one signal distributor as the input data; Controlled or the adjustable subsystem that also comprises a plurality of adjusting vehicle dynamics characteristics for example can be independent of steering swivel system that chaufeur regulates, can be independent of chassis that chaufeur regulates, can be independent of the drg that chaufeur regulates and can be independent of the transmission system that chaufeur is regulated.
Background technology
Traveling comfort and safety engineering are all more and more important on vehicle.Therefore, electronics that is equipped with on the vehicle and electromechanical component or subsystem are more and more.For making sensor signal have credibility, the actuator of adjusting signal and regulating subsystem is handled, calculated to signal, each subsystem need possess control unit separately.But each in these subsystems or the control unit is (unit) work separately, does not understand other subsystems or unit usually.
Except that comfort system for example the internal regulator etc. of self-moving vehicle window glass lifter, external mirror having indicator light, mainly be to be used to influence or the quantity improving rideability or vehicle dynamics characteristic and be used to improve the subsystem of safety increases greatly.Can also see that in being respectively applied for the subsystem that influences rideability or vehicle dynamics characteristic, electronic unit and electromechanical component have the trend that increases.Influence in the subsystem of rideability can promptly being independent of chaufeur on one's own initiative, electric brake system, active front steering system, active and half active chassis parts are arranged and in having the vehicle of controlled intermediate gearing, also have driving system.Thereby each in these subsystems all is intended to influence the improvement that vehicle is realized rideability.According to related subsystem difference, the different field (safety, road-holding property or traveling comfort) that focuses on of control algorithm.Therefore, main only according to subsystem controlled target or its main field of application and adjust subsystem respectively separately.But in the very wide scope, the field of application or the emphasis of each subsystem overlap each other in the vehicle field of application relevant with the vehicle dynamics characteristic.Although described subsystem often is intended to influence or control identical vehicle dynamics characteristic quantity, each in these subsystems is (unit) work (Fig. 1 illustrates the example of level control) separately.This causes using very complicated; the most important thing is the complexity of single subsystem mutual protection relative to each other; and cause the function of each subsystem is limited (that is, because each subsystem can not limit or hinder other subsystem, so each subsystem can not be realized its controlled target ideally).
Summary of the invention
Therefore, the objective of the invention is to strengthen the functional of vehicle dynamics Characteristics Control.
This purpose realizes by the feature of claim 1.
The data of signal distributor are sent to central authorities' state identifier of travelling; central authorities' identifying unit determines that according to the data of signal distributor central authorities, overall controlled target and these data item about the centring control target are sent to by activating these subsystems with in central authorities' adjustment variable distributing box of being realized controlled target by these subsystems on the vehicle with the subsystem interactive communication; the above fact will reduce the complexity of using; mainly be the complexity that reduces the mutual protection relative to each other of each subsystem, and eliminated the function restriction of each subsystem.
By travel state controller or adjust variable distributing box self and implement to distribute of central authorities.Motoring condition controller or adjustment variable distributing box are multivariable controllers, and the corresponding distribution of the control request between the single subsystem is based on design of Controller (controller principle, controller method, controller algorithm) itself, the quality criteria that is preset in controller or optimal standards and/or by means of adjustable weight factor/factor (according to the intensity of subsystem and the weighting of boot sequence).For example, the purpose of this distribution may be when very little unstable trend occurring, for the traveling comfort reason, at first stability requirement is distributed to chassis and steering swivel system.When bigger unstable trend occurring, must consider drg and transmission system in addition respectively.According to the difference of controller method, can draw the quality criteria or the cooresponding weighting factor of design of Controller or controller from this goal-selling.
Dependent claims provides favourable improvement of the present invention.
Advantage of the present invention
Compare with the unit form, with all controllable function of each actuator be combined in central authorities travel in the dynamics control algorithm (integrated approach) realized on the vehicle dynamics characteristic and the various advantages on topology or the systems technology:
● in integrated approach, different subsystems or intelligent actuators activate by the control algorithm of closed in itself respectively.Therefore, the combined action of each intelligent actuators coordination structurally is guaranteed.Because each intelligent actuators corresponding to the multivariable controller method can be to not having a negative impact, so the control of motoring condition is guaranteed each other.
● can be simply by the new intelligent actuators expansion central authorities dynamics controller that travels, because this increase to complexity is very little.
● the mutual consideration of intelligent actuators has reduced the complexity of using (must actuator be protected each other by running test) in this control method in the unit subsystem.Complexity sharply increases during the expansion of unit subsystem network, and the complexity that mainly shows as application increases greatly.
● the central network of single intelligent actuators makes bus load reduce in this control method, and makes the quantity of the physical interface between central process unit and the intelligent actuators reduce.If one-of-a-kind system " connects into network ", will cause the communication degree between the unit subsystem to be difficult to control and maintenance.
● all controllable function of subsystem, motoring condition identification and driver intention identification are shifted respectively and are made up or be integrated in the Central Processing Unit (CPU), and this provides cost savings.It is less that single intelligent actuators is carried out the evaluation work that its basic function (control operation) needs.Therefore, can be in intelligent actuators the lower and physical store almost inactivity of use cost require less calculating unit.
● owing to no longer need each subsystem, therefore reduced whole software expansion existing in the vehicle and safeguarded required work as having its separately control algorithm, motoring condition identifying unit and chaufeur request identification in the unit subsystem.In integrated approach, control algorithm, motoring condition identifying unit and chaufeur request identification only need to carry out one extension and maintenance in central authorities.
● clear with separate basic function (control) and vehicle dynamics Characteristics Control function (by the variable relevant feedback adjustment motoring condition variable of yaw-rate, transverse acceleration, angle of side slip etc. for example) clearly with the vehicle dynamics characteristic.
In the consideration on the whole of vehicle, best combined action causes optimum controller performance or optimally realizes controlled target between each subsystem.All master control functions central authorities' combinations (integrated) of each subsystem in a control algorithm to guarantee the combined action of each subsystem optimum.That is, all are by the function of feedback influence vehicle, i.e. the control of vehicle-state variable all center stack is combined in the control algorithm.Employing level control example, this means according to each subsystem of Fig. 2 (brake system, steering swivel system, chassis system and driving system) becomes intelligent actuators.The control of vehicle dynamics characteristic state is carried out according to central primary control system algorithm, and the on purpose selected single intelligent actuators of this master control algorithm is to realize its controlled target.Intelligent actuators is not only regulated the rated value of main vehicle dynamics Characteristics Control device, and report its current state and still adjustable potentiality thereof to main vehicle dynamics Characteristics Control device, make winner's vehicle dynamics Characteristics Control device these data can be taken into account its control policy.In addition, each intelligent actuators has basic function: and these basic function are simple control, that is, they work and do not feed back/feedback the vehicle dynamics characteristic variable.For example, this relates to electronic braking force and distributes in brake system, relates to steering gear ratio and variation velocity correlation in active front steering system, perhaps relates to the distribution by the bank moment of transverse acceleration control in having the chassis system of stabilizer rod initiatively.The feedback of all controllable function or vehicle dynamics characteristic and adjusting are all carried out in the dynamics control algorithm travels in central authorities.The judgement of the judgement of current driving state and chaufeur request also in the program block that is connected to main vehicle dynamics Characteristics Control device (Fig. 2) upstream middle ground carry out.
The specific embodiment
Fig. 2 illustrates the vehicle dynamics Characteristics Control 10 that comprises signal distributor 11 according to of the present invention.This signal distributor receives input data (variable of detection is transverse acceleration, slipspeed/deflection speed for example) from vehicle 12, from the input data of chaufeur 13 (the chaufeur request of representing via deflection angle and/or accelerator pedal position, brake pedal position) and from the input data of environment 14 (if can detect, for example ground-surface inclination angle, ground-surface friction coefficient etc.).Signal distributor 11 is connected to adjustment variable distributing box or the identifying unit and the subsystem 17 to 20 of identifying unit 15 (motoring condition identification, chaufeur request identification) and the central state controller 16 that travels.To identifying unit 15 provide (from) system's input data of chaufeur, vehicle and environment, and identifying unit 15 is determined the vehicle rated performance of chaufeur expectation and undetectable state and environmental variance (for example ground-surface friction coefficient) and these variablees is flowed to central authorities in the square frame 16 state controller that travels according to these signals.Adjust variable distributing box or central authorities and travel state controller 16 respectively with signal distributor 11 interactive communications and to the data of these signal distributor 11 conveyings about the adjustment variable.Described data can feed back to identifying unit 15.Adjusting variable distributing box or the central authorities state controller that travels links to each other alternately with each subsystem respectively, and send its control command to each chassis subsystem like this, obtain simultaneously like this state (for example can operate, part can operate, can not operate) and regulate about the information of the current adjusting potentiality of these subsystems and at it and to consider for example these information of chassis subsystem in requiring about these subsystems.Subsystem 17-20 regulates the travel control command of state controller and provide actual value or the existing condition of being adjusted by each subsystem respectively to signal distributor 11 conversely of central authorities, and identifying unit 15 (motoring condition identification and Signal Regulation) given this information conveyance again by signal distributor 11 in closed loop control.
Claims (7)
1. driving dynamics control system that is used for vehicle, this system comprises at least one signal distributor, vehicle data, the data of environmental data and relevant chaufeur request are sent to described at least one signal distributor as the input data, controlled or the adjustable subsystem that also comprises a plurality of adjusting vehicle dynamics characteristics, for example can be independent of the steering swivel system that chaufeur is regulated, can be independent of the chassis that chaufeur is regulated, the drg of chaufeur adjusting can be independent of and the transmission system that chaufeur is regulated can be independent of, it is characterized in that, the data of described signal distributor are sent to a central identifying unit (motoring condition identification, chaufeur request identification), this central authorities' identifying unit is determined the centring control target according to the data of described signal distributor, these data item about the centring control target are delivered to central authorities respectively and are adjusted variable distributing box or the central authorities state controller that travels, state controller travels by activating described subsystem in this wise with described subsystem interactive communication, to realize described controlled target by the subsystem on the vehicle in these central authorities.
2. driving dynamics control system according to claim 1 is characterized in that, the current adjusting potentiality of the basic of distribution described subsystem of described controlled target between described subsystem and may contributing of current controlled target carried out.
3. driving dynamics control system according to claim 1 and 2 is characterized in that, the distribution of described controlled target between described subsystem also carried out according to the current state of described subsystem.
4. according to each described driving dynamics control system in the claim 1 to 3, it is characterized in that the distribution of described controlled target between described subsystem also carried out according to the current driving state of vehicle.
5. according to each described driving dynamics control system in the claim 1 to 3, it is characterized in that described centring control target is determined and respectively by travel state controller (psip controller, beta controller) or distribute to described subsystem by described adjustment variable distributing box (16) of described central authorities in state recognition (15) is travelled by central authorities.
6. according to each described driving dynamics control system in the claim 1 to 4, it is characterized in that, the distribution of described centring control target between described subsystem carried out according to being preset in the travel controller principle or the controller algorithm of state controller or described adjustment variable distributing box of described central authorities respectively respectively, according to being preset in described central authorities the travel quality criteria or the optimal standards of state controller or described adjustment variable distributing box (16), perhaps undertaken respectively by the adjustable weight factor.
7. driving dynamics control system according to claim 6 is characterized in that, described weighting is carried out according to the intensity and the boot sequence of described subsystem.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10321645 | 2003-05-13 | ||
| DE10321645.6 | 2003-05-13 | ||
| DE10341412A DE10341412A1 (en) | 2003-05-13 | 2003-09-05 | Vehicle dynamics control system for vehicles |
| DE10341412.6 | 2003-09-05 | ||
| PCT/EP2004/050735 WO2004101337A1 (en) | 2003-05-13 | 2004-05-07 | Driving dynamics control system for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1787939A true CN1787939A (en) | 2006-06-14 |
| CN1787939B CN1787939B (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2004800129036A Active CN1787939B (en) | 2003-05-13 | 2004-05-07 | Driving dynamics control system for vehicles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1787939B (en) |
| DE (1) | DE10341412A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101357616B (en) * | 2008-09-27 | 2011-04-27 | 清华大学 | Intelligent environment-friendly type vehicle structure |
| CN102046443A (en) * | 2008-06-02 | 2011-05-04 | 通用汽车环球科技运作公司 | Integrated hierarchical process for fault detection and isolation |
| CN103373359A (en) * | 2012-04-19 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | Vehicle control system and method |
| CN110406592A (en) * | 2019-06-25 | 2019-11-05 | 湖北汽车工业学院 | A kind of people's vehicle drives the automatic driving vehicle steering system and control method of power distribution |
| CN109204324B (en) * | 2017-07-03 | 2021-10-26 | 百度（美国）有限责任公司 | Centralized dispatch system for operating autonomous vehicles |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1695894B1 (en) * | 2005-02-23 | 2010-08-11 | Ford Global Technologies, LLC, A subsidary of Ford Motor Company | Method and device for yaw control of a vehicle |
| DE102005025287A1 (en) | 2005-06-02 | 2006-12-07 | Continental Teves Ag & Co. Ohg | Driving condition adapted, based on steering intervention driving dynamics control |
| DE102007045572B4 (en) | 2007-09-24 | 2021-12-09 | Robert Bosch Gmbh | Procedure for reducing the risk of vehicles tipping over |
| US8473156B2 (en) | 2008-10-17 | 2013-06-25 | Continental Teves Ag & Co. Ohg | Driving dynamics control system for vehicles |
| DE102009049635A1 (en) * | 2009-10-15 | 2011-04-21 | Continental Teves Ag & Co. Ohg | System for regulating driving dynamic e.g. longitudinal dynamic, of motor vehicle, has actuators whose state is supplied to distribution algorithm to provide adjusting potential and speed of actuators for conversion of regulating parameter |
| JP6338614B2 (en) | 2016-04-27 | 2018-06-06 | 株式会社Ｓｕｂａｒｕ | Vehicle travel control device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19749005A1 (en) * | 1997-06-30 | 1999-01-07 | Bosch Gmbh Robert | Method and device for regulating movement variables representing vehicle movement |
| DE19812238A1 (en) * | 1998-03-20 | 1999-09-23 | Daimler Chrysler Ag | Procedure for controlling the yaw behavior of vehicles |
| DE10132440A1 (en) * | 2001-07-04 | 2003-01-23 | Bosch Gmbh Robert | System and method for monitoring the driving behavior of a vehicle |
| DE10143551A1 (en) * | 2001-09-06 | 2003-03-27 | Daimler Chrysler Ag | Device for controlling vehicle equipment has at least one software module for processing data components in longitudinal direction, at least one for processing data in transverse direction |
-
2003
- 2003-09-05 DE DE10341412A patent/DE10341412A1/en not_active Ceased
-
2004
- 2004-05-07 CN CN2004800129036A patent/CN1787939B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102046443A (en) * | 2008-06-02 | 2011-05-04 | 通用汽车环球科技运作公司 | Integrated hierarchical process for fault detection and isolation |
| CN101357616B (en) * | 2008-09-27 | 2011-04-27 | 清华大学 | Intelligent environment-friendly type vehicle structure |
| CN103373359A (en) * | 2012-04-19 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | Vehicle control system and method |
| CN109204324B (en) * | 2017-07-03 | 2021-10-26 | 百度（美国）有限责任公司 | Centralized dispatch system for operating autonomous vehicles |
| CN110406592A (en) * | 2019-06-25 | 2019-11-05 | 湖北汽车工业学院 | A kind of people's vehicle drives the automatic driving vehicle steering system and control method of power distribution |
Also Published As
| Publication number | Publication date |
|---|---|
| DE10341412A1 (en) | 2005-01-05 |
| CN1787939B (en) | 2011-04-13 |
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